Horizontal guidance for rotorcrafts. More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/guidance/guidance_hybrid.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "firmwares/rotorcraft/guidance/guidance_flip.h"
#include "firmwares/rotorcraft/guidance/guidance_module.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "firmwares/rotorcraft/navigation.h"
#include "modules/radio_control/radio_control.h"
#include "firmwares/rotorcraft/stabilization/stabilization_none.h"
#include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/guidance/guidance_v.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Functions
static void	guidance_h_update_reference (void)

static void	transition_run (bool to_forward)

static void	read_rc_setpoint_speed_i (struct Int32Vect2 *speed_sp, bool in_flight)
	read speed setpoint from RC More...

static void	send_gh (struct transport_tx trans, struct link_device dev)

static void	send_href (struct transport_tx trans, struct link_device dev)

static void	send_tune_hover (struct transport_tx trans, struct link_device dev)

void	guidance_h_init (void)

static void	reset_guidance_reference_from_current_position (void)

void	guidance_h_mode_changed (uint8_t new_mode)

void	guidance_h_read_rc (bool in_flight)

void	guidance_h_run (bool in_flight)

void	guidance_h_hover_enter (void)

void	guidance_h_nav_enter (void)

void	guidance_h_from_nav (bool in_flight)
	Set horizontal guidance from NAV and run control loop. More...

void	guidance_h_guided_run (bool in_flight)
	Run GUIDED mode control. More...

void	guidance_h_set_pos (float x, float y)
	Set horizontal position setpoint. More...

void	guidance_h_set_heading (float heading)
	Set heading setpoint. More...

void	guidance_h_set_body_vel (float vx, float vy)
	Set body relative horizontal velocity setpoint. More...

void	guidance_h_set_vel (float vx, float vy)
	Set horizontal velocity setpoint. More...

void	guidance_h_set_heading_rate (float rate)
	Set heading rate setpoint. More...

Variables
struct HorizontalGuidance	guidance_h

int32_t	transition_percentage

struct StabilizationSetpoint	guidance_h_cmd
	horizontal guidance command. More...

Detailed Description

Horizontal guidance for rotorcrafts.

Definition in file guidance_h.c.

Function Documentation

◆ guidance_h_from_nav()

void guidance_h_from_nav ( bool in_flight )

Set horizontal guidance from NAV and run control loop.

Definition at line 422 of file guidance_h.c.

Referenced by guidance_h_run().

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◆ guidance_h_guided_run()

void guidance_h_guided_run ( bool in_flight )

Run GUIDED mode control.

Definition at line 535 of file guidance_h.c.

References guidance_h, guidance_h_cmd, guidance_h_hover_enter(), guidance_h_run_pos(), guidance_h_update_reference(), stabilization_attitude_run(), and stabilization_attitude_set_stab_sp().

Referenced by guidance_h_from_nav(), and guidance_h_run().

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◆ guidance_h_hover_enter()

void guidance_h_hover_enter ( void )

Definition at line 390 of file guidance_h.c.

References guidance_h, guidance_h_run_enter(), guidance_h_set_heading(), guidance_h_set_pos(), FloatEulers::psi, HorizontalGuidance::rc_sp, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), FloatVect2::x, Int32Vect2::x, FloatVect2::y, and Int32Vect2::y.

Referenced by guidance_h_guided_run(), and guidance_h_mode_changed().

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◆ guidance_h_init()

void guidance_h_init ( void )

Definition at line 103 of file guidance_h.c.

References DefaultPeriodic, FLOAT_EULERS_ZERO, gh_ref_init(), guidance_h, GUIDANCE_H_MODE_KILL, guidance_h_module_init(), GUIDANCE_H_USE_REF, HorizontalGuidanceSetpoint::heading, HorizontalGuidanceSetpoint::heading_rate, INT_VECT2_ZERO, HorizontalGuidance::mode, HorizontalGuidanceSetpoint::pos, HorizontalGuidance::rc_sp, register_periodic_telemetry(), send_gh(), send_href(), send_tune_hover(), HorizontalGuidance::sp, transition_percentage, transition_theta_offset, and HorizontalGuidance::use_ref.

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◆ guidance_h_mode_changed()

void guidance_h_mode_changed ( uint8_t new_mode )

Definition at line 145 of file guidance_h.c.

References guidance_flip_enter(), guidance_h, guidance_h_hover_enter(), GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_KILL, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_enter(), guidance_h_nav_enter(), HorizontalGuidance::mode, stabilization_attitude_enter(), stabilization_attitude_reset_care_free_heading(), stabilization_none_enter(), and stabilization_rate_enter().

Referenced by autopilot_static_set_mode().

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◆ guidance_h_nav_enter()

void guidance_h_nav_enter ( void )

Definition at line 411 of file guidance_h.c.

References RotorcraftNavigation::carrot, guidance_h_run_enter(), guidance_h_set_heading(), guidance_h_set_pos(), RotorcraftNavigation::heading, nav, reset_guidance_reference_from_current_position(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by guidance_h_from_nav(), and guidance_h_mode_changed().

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◆ guidance_h_read_rc()

void guidance_h_read_rc ( bool in_flight )

Definition at line 218 of file guidance_h.c.

References FALSE, FLOAT_EULERS_ZERO, guidance_h, GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_read_rc(), HorizontalGuidanceSetpoint::mask, HorizontalGuidance::mode, radio_control, RC_OK, HorizontalGuidance::rc_sp, read_rc_setpoint_speed_i(), HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_eulers_f(), stabilization_none_read_rc(), stabilization_rate_read_rc(), stabilization_rate_read_rc_switched_sticks(), RadioControl::status, and TRUE.

Referenced by autopilot_static_on_rc_frame(), and ins_ekf2_publish_attitude().

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◆ guidance_h_run()

void guidance_h_run ( bool in_flight )

Definition at line 277 of file guidance_h.c.

References guidance_flip_run(), guidance_h, guidance_h_from_nav(), guidance_h_guided_run(), GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_run(), HorizontalGuidanceSetpoint::heading, INT32_PERCENTAGE_FRAC, HorizontalGuidance::mode, FloatEulers::psi, HorizontalGuidance::rc_sp, HorizontalGuidance::sp, stabilization_attitude_run(), stabilization_filter_commands(), stabilization_none_run(), stabilization_rate_run(), transition_percentage, and transition_run().

Referenced by autopilot_static_periodic().

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◆ guidance_h_set_body_vel()

void guidance_h_set_body_vel	(	float	vx,
		float	vy
	)

Set body relative horizontal velocity setpoint.

Parameters

vx	forward velocity (body frame) in meters/sec.
vy	right velocity (body frame) in meters/sec.

Definition at line 564 of file guidance_h.c.

References guidance_h_set_vel(), FloatEulers::psi, Int32Eulers::psi, and stateGetNedToBodyEulers_f().

Referenced by autopilot_guided_update(), and orange_avoider_guided_periodic().

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◆ guidance_h_set_heading()

void guidance_h_set_heading ( float heading )

Set heading setpoint.

Parameters

heading Setpoint in radians.

Definition at line 557 of file guidance_h.c.

References FLOAT_ANGLE_NORMALIZE, guidance_h, HorizontalGuidanceSetpoint::heading, heading, HorizontalGuidanceSetpoint::mask, and HorizontalGuidance::sp.

Referenced by autopilot_guided_goto_ned(), autopilot_guided_move_ned(), autopilot_guided_update(), guidance_h_from_nav(), guidance_h_hover_enter(), guidance_h_nav_enter(), and orange_avoider_guided_periodic().

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◆ guidance_h_set_heading_rate()

void guidance_h_set_heading_rate ( float rate )

Set heading rate setpoint.

Parameters

rate	Heading rate in radians.

Definition at line 579 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::heading_rate, HorizontalGuidanceSetpoint::mask, and HorizontalGuidance::sp.

Referenced by autopilot_guided_update(), and orange_avoider_guided_periodic().

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◆ guidance_h_set_pos()

void guidance_h_set_pos	(	float	x,
		float	y
	)

Set horizontal position setpoint.

Parameters

x	North position (local NED frame) in meters.
y	East position (local NED frame) in meters.

Definition at line 550 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::mask, HorizontalGuidanceSetpoint::pos, POS_BFP_OF_REAL, HorizontalGuidance::sp, Int32Vect2::x, and Int32Vect2::y.

Referenced by autopilot_guided_goto_ned(), autopilot_guided_update(), guidance_h_from_nav(), guidance_h_hover_enter(), and guidance_h_nav_enter().

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◆ guidance_h_set_vel()

void guidance_h_set_vel	(	float	vx,
		float	vy
	)

Set horizontal velocity setpoint.

Parameters

vx	North velocity (local NED frame) in meters/sec.
vy	East velocity (local NED frame) in meters/sec.

Definition at line 572 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::mask, HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, SPEED_BFP_OF_REAL, Int32Vect2::x, and Int32Vect2::y.

Referenced by autopilot_guided_move_ned(), autopilot_guided_update(), guidance_h_from_nav(), and guidance_h_set_body_vel().

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◆ guidance_h_update_reference()

static void guidance_h_update_reference ( void )

static

Definition at line 340 of file guidance_h.c.

Referenced by guidance_h_from_nav(), and guidance_h_guided_run().

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◆ read_rc_setpoint_speed_i()

static void read_rc_setpoint_speed_i	(	struct Int32Vect2 *	speed_sp,
		bool	in_flight
	)

static

read speed setpoint from RC

Todo:: calc proper scale while making sure a division by zero can't occur

Definition at line 505 of file guidance_h.c.

References GUIDANCE_H_REF_MAX_SPEED, INT32_TRIG_FRAC, MAX_PPRZ, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, radio_control, RADIO_PITCH, RADIO_ROLL, SPEED_BFP_OF_REAL, speed_sp, stateGetNedToBodyEulers_i(), RadioControl::values, FloatVect3::x, and FloatVect3::y.

Referenced by guidance_h_read_rc().

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◆ reset_guidance_reference_from_current_position()

static void reset_guidance_reference_from_current_position ( void )

inlinestatic

Definition at line 131 of file guidance_h.c.

References HorizontalGuidanceReference::accel, FLOAT_VECT2_ZERO, gh_set_ref(), guidance_h, INT_VECT2_ZERO, HorizontalGuidanceReference::pos, HorizontalGuidance::ref, HorizontalGuidanceReference::speed, SPEED_FLOAT_OF_BFP, stateGetPositionNed_i(), stateGetSpeedNed_i(), VECT2_COPY, FloatVect2::x, Int32Vect2::x, FloatVect2::y, and Int32Vect2::y.

Referenced by guidance_h_hover_enter(), and guidance_h_nav_enter().

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◆ send_gh()

static void send_gh	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 66 of file guidance_h.c.

References dev, guidance_h, HorizontalGuidanceReference::pos, HorizontalGuidanceSetpoint::pos, HorizontalGuidance::ref, HorizontalGuidance::sp, stateGetPositionNed_i(), Int32Vect2::x, NedCoor_i::x, Int32Vect2::y, and NedCoor_i::y.

Referenced by guidance_h_init().

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◆ send_href()

static void send_href	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 75 of file guidance_h.c.

References HorizontalGuidanceReference::accel, dev, guidance_h, HorizontalGuidanceReference::pos, HorizontalGuidanceSetpoint::pos, HorizontalGuidance::ref, HorizontalGuidance::sp, HorizontalGuidanceReference::speed, HorizontalGuidanceSetpoint::speed, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_h_init().

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◆ send_tune_hover()

static void send_tune_hover	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 86 of file guidance_h.c.

References dev, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, stabilization_cmd, stateGetNedToBodyEulers_i(), and RadioControl::values.

Referenced by guidance_h_init().

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◆ transition_run()

static void transition_run ( bool to_forward )

inlinestatic

Definition at line 487 of file guidance_h.c.

References ANGLE_BFP_OF_REAL, INT32_ANGLE_FRAC, INT32_PERCENTAGE_FRAC, INT_MULT_RSHIFT, transition_percentage, and transition_theta_offset.

Referenced by guidance_h_run().

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Variable Documentation

◆ guidance_h

◆ guidance_h_cmd

struct StabilizationSetpoint guidance_h_cmd

horizontal guidance command.

In north/east with INT32_ANGLE_FRAC

Definition at line 52 of file guidance_h.c.

Referenced by guidance_h_from_nav(), and guidance_h_guided_run().

◆ transition_percentage

int32_t transition_percentage

Definition at line 52 of file guidance_h.c.

Referenced by eff_scheduling_generic_periodic(), eff_scheduling_periodic_a(), guidance_h_init(), guidance_h_run(), and transition_run().

Functions

Variables

Detailed Description

Function Documentation

◆ guidance_h_from_nav()

◆ guidance_h_guided_run()

◆ guidance_h_hover_enter()

◆ guidance_h_init()

◆ guidance_h_mode_changed()

◆ guidance_h_nav_enter()

◆ guidance_h_read_rc()

◆ guidance_h_run()

◆ guidance_h_set_body_vel()

◆ guidance_h_set_heading()

◆ guidance_h_set_heading_rate()

◆ guidance_h_set_pos()

◆ guidance_h_set_vel()

◆ guidance_h_update_reference()

◆ read_rc_setpoint_speed_i()

◆ reset_guidance_reference_from_current_position()

◆ send_gh()

◆ send_href()

◆ send_tune_hover()

◆ transition_run()

Variable Documentation

◆ guidance_h

◆ guidance_h_cmd

◆ transition_percentage